Heat sesame oil in medium skillet placed over medium high heat and cook the chicken until lightly brown. Add the minced garlic and ginger and stir until garlic is softened and fragrant. Add the vegetables and stir until crisp-tender. Add pineapple and cilantro and stir until heated through.
Combine chicken broth, soy sauce, pineapple juice, brown sugar and cornstarch, whisking to combine. Pour over chicken and vegetable mixture; stir until thickened.